Research On Motion Planning Of Arc Welding Robot Based On ROS-Industrial

As the most widely used industrial robot,arc welding robots play an important role in the welding production of electronics,motor vehicle manufacturing,and shipping.With the rapid development and complication of arc welding robot technology,the development of arc welding robot faces the problems of long development time and high cost,and it is difficult for robot technology innovation results to enter the market quickly.In response to these problems,this paper proposes the use of Robot Operating System ROS-I,which is currently widely concerned,to develop arc welding robots.In this study,the EFORT arc welding robot was taken as the research object,and the kinematics of the arc welding robot was first studied.The linkage coordinate system of the arc welding robot was established by the DH parameter method,the positive and negative kinematics analysis of the 6-DOF arc welding robot was completed,and the positive and inverse kinematics results of the robot were verified by related tools.The working space of the arc welding robot was drawn by MATLAB.Motion planning is a core part of the research of industrial robots.In this study,the three-dimensional model of the arc welding robot was converted into a URDF file using the plug-in in SolidWorks,and the simulation model of the arc welding robot was completed.The start-up and configuration files required for the motion planning of the arc welding robot were generated by the MoveIt! setup assistant,thereby completing the construction of the arc welding robot simulation platform.On this platform,the joint space motion trajectory planning of the arc welding robot is completed by the cubic polynomial interpolation algorithm,and the linear and circular trajectory planning in the Cartesian space of the arc welding robot is completed using the robot motion planning library Descartes.Finally,based on the motion planning of the arc welding robot,the dynamic simulation of the arc welding robot was performed by the mechanical dynamics simulation software ADAMS and the experimental results were analyzed.Research shows that using ROS-I for robot motion planning is effective and reliable.Its development process has the advantages of intuitiveness and simplicity,which can effectively improve the efficiency of robot motion planning and reduce the cost of robot development.